Unmanned aerial vehicle control method and device for broadband high-speed ad hoc network

Abstract

The invention discloses an unmanned aerial vehicle control method and device for a broadband high-speed ad hoc network, and the method comprises the steps: ground control broadband ad hoc network equipment determines a current working frequency band from candidate working frequency bands through an adaptive frequency selection algorithm, and broadcasts the current working frequency band to at least one unmanned aerial vehicle; the unmanned aerial vehicle receives the broadcast current working frequency band and transmits the broadcast current working frequency band to the airborne broadband ad hoc network equipment; the airborne broadband ad hoc network equipment switches a corresponding radio frequency emission link according to the current working frequency band; an airborne broadband ad hoc network baseband module of the airborne broadband ad hoc network device sends the video data or the control data to a ground control broadband ad hoc network device through a selected radio frequency emission link via a second antenna; and the ground control broadband ad hoc network equipment receives the video data or the control data through a low-noise amplifier path, and realizes data intercommunication among the control terminal, the video terminal and the unmanned aerial vehicle in the current working frequency band. The problems of short transmission distance and easy interference in existing unmanned aerial vehicle control are solved.

Description

Technical Field

[0001] This invention relates to the field of broadband ad hoc network communication technology, and in particular to a broadband high-speed ad hoc network unmanned aerial vehicle (UAV) control method and device. Background Technology

[0002] In recent years, drones have demonstrated wide application value in agriculture, transportation, public security, power line inspection, fire emergency response, and military reconnaissance. These application scenarios generally require drones to have long-range, low-latency, and highly reliable real-time communication capabilities to ensure that flight control commands can be reliably issued and that video images and status data can be transmitted back in real time. Although existing communication methods such as 4G, 5G, and WiFi are widely deployed, they are all easily limited by environmental conditions: 4G / 5G cannot guarantee link continuity in coverage blind spots, mountainous areas, sea surfaces, and high-altitude missions; WiFi is limited by transmission power and path loss, and its communication distance is usually limited, making it difficult to meet the stability requirements of communication links in high-interference environments, multi-drone collaborative operations, and complex missions.

[0003] To address the aforementioned issues, one approach is to extend the remote control distance of UAVs through microwave ad hoc network channels. However, this still relies on communication mechanisms using fixed frequency bands or manually configured frequency bands. If the used microwave frequency band is subject to electromagnetic interference, the remote link immediately ceases operation, lacking intelligent frequency band switching capabilities and the ability to manage the synchronous frequency bands of multiple UAVs. Furthermore, the lack of a collaborative scheduling mechanism between control data and video links prevents the automatic selection of the optimal frequency band and maintenance of link continuity in complex electromagnetic environments. Therefore, a broadband, high-speed ad hoc network UAV control method is urgently needed in complex mission scenarios, capable of multi-band dynamic scanning, adaptive frequency selection, collaborative switching among multiple UAVs, and uninterrupted link control. Summary of the Invention

[0004] Based on the shortcomings of the existing technology, the present invention provides a broadband high-speed self-organizing network UAV control method, device and medium, which solves the problems of short transmission distance, inability to adaptive frequency selection and susceptibility to interference in traditional UAV control.

[0005] To address the aforementioned technical problems, the first aspect of this invention discloses a method for controlling unmanned aerial vehicles (UAVs) in a broadband high-speed self-organizing network, the method comprising: The ground-controlled broadband self-organizing network equipment determines the current operating frequency band from candidate operating frequency bands through an adaptive frequency selection algorithm and broadcasts the current operating frequency band to at least one UAV; The UAV receives the broadcast of the current operating frequency band and transmits it to the airborne broadband self-organizing network device; the airborne broadband self-organizing network device switches the corresponding radio frequency transmission link according to the current operating frequency band; The airborne broadband self-organizing network baseband module of the airborne broadband self-organizing network equipment transmits video data or control data to the ground control broadband self-organizing network equipment via a second antenna through a selected radio frequency transmission link. The ground control broadband self-organizing network equipment receives the video data or control data through a low-noise amplifier path, enabling data communication between the control terminal, video terminal and UAV under the current operating frequency band.

[0006] In some implementations, the adaptive frequency selection algorithm includes the following steps: The first antenna receives radio frequency signals from multiple candidate operating frequency bands. The operating frequency bands of the terrestrial broadband self-organizing network baseband modules are respectively set as the candidate operating frequency bands, and the input power of each candidate operating frequency band is detected; Based on the threshold, determine whether each candidate working frequency band meets the communication requirements, and select the frequency band that meets the communication requirements as the current working frequency band.

[0007] In some implementations, the threshold is -60 dBm.

[0008] In some embodiments, the airborne broadband ad hoc network baseband module of the airborne broadband ad hoc network equipment transmits video data or control data to the ground control broadband ad hoc network equipment via a second antenna through a selected radio frequency transmission link, including: The airborne broadband self-organizing network module encodes, frames, and encapsulates the video or status data collected by the UAV into uplink data frames. The uplink data frame is sent to the selected radio frequency transmission link for power amplification and then transmitted via the second antenna.

[0009] In some implementations, the operating frequency bands of the terrestrial broadband ad hoc network baseband modules are set separately, and the input power of each candidate operating frequency band is detected, including: The radio frequency signals of the multiple candidate operating frequency bands are amplified by a low-noise amplifier and then sent to the mixer. The phase-locked loop controls the voltage-controlled oscillator to output the local oscillator signal to the mixer, so as to convert the candidate operating frequency band signals to intermediate frequency signals; The intermediate frequency signal is filtered and power detected, and then converted into a digital signal by an analog-to-digital converter; the microcontroller determines the input power based on the digital signal.

[0010] In some implementations, candidate operating frequency bands include 900MHz, 1.2GHz, 1.5GHz, 2.4GHz, 5.2GHz, and / or 5.8GHz.

[0011] In some implementations, the ground-controlled broadband ad hoc network device broadcasts the current operating frequency band via a satellite positioning module and a positioning antenna.

[0012] In some implementations, the number of airborne broadband ad hoc network devices is no more than 32.

[0013] Secondly, a broadband high-speed self-organizing network unmanned aerial vehicle (UAV) control device is disclosed, comprising: The ground-based control broadband ad hoc network device is used to determine the current operating frequency band through an adaptive frequency selection module and broadcast the current operating frequency band to the airborne broadband ad hoc network devices of multiple UAVs through a first antenna; and to receive the video data or control data through a low-noise amplification path. Several airborne broadband ad hoc network devices are used to switch the corresponding radio frequency transmission link according to the current operating frequency band, and transmit video data or control data to the ground control broadband ad hoc network device via the second antenna under the radio frequency transmission link.

[0014] In some embodiments, the adaptive frequency selection module includes a mixer, a filter, a power detector, an analog-to-digital converter, and a microcontroller connected in sequence; the input of the mixer is connected to a first radio frequency interface via a low-noise amplifier and a group of radio frequency switches; the output of the microcontroller is connected to the signal input of the terrestrial broadband self-organizing network baseband module. The adaptive frequency selection module is also equipped with a phase-locked loop (PLL) and a voltage-controlled oscillator (VCO). The control terminal of the PLL is connected to the microcontroller, the output terminal of the PLL is connected to the control terminal of the VCO, and the output terminal of the VCO is connected to the local oscillator input terminal of the mixer.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention employs an adaptive frequency selection algorithm to automatically determine the current operating frequency band from multiple candidate frequency bands and simultaneously broadcasts this information to the UAV. This ensures that the radio frequency links between the ground and airborne ends operate within a unified frequency band, thus avoiding the problem of link interruption when fixed-frequency communication is subject to interference or obstruction. This invention improves the reliability and anti-interference capability of UAV control and video backhaul links in complex electromagnetic environments, ensuring communication continuity and stability for multiple UAVs in long-distance missions. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of a broadband high-speed self-organizing network unmanned aerial vehicle control method provided by the present invention; Figure 2 This is a schematic diagram of the structure of a broadband high-speed self-organizing network unmanned aerial vehicle control device provided by the present invention. Figure 3 This is a schematic diagram of the adaptive frequency selection module in a broadband high-speed self-organizing network UAV control method provided by the present invention. Figure 4This is a flowchart illustrating the adaptive frequency selection algorithm in a broadband high-speed self-organizing network UAV control method provided by the present invention. Detailed Implementation

[0017] To better understand and implement this invention, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0018] The terms “comprising” and “having” and any variations thereof in this invention are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or modules is not necessarily limited to those steps or modules that are explicitly listed, but may include other steps or modules that are not explicitly listed or that are inherent to such processes, methods, products or devices.

[0019] Embodiments of the present invention disclose, as follows Figure 1 The method for controlling unmanned aerial vehicles (UAVs) in a broadband high-speed self-organizing network is shown, which realizes multi-band dynamic scanning, adaptive frequency selection, multi-UAV cooperative switching and link uninterrupted control.

[0020] Specifically, this method can be applied to, for example... Figure 2 The diagram illustrates a broadband high-speed ad hoc network (BHF) UAV control device. The device includes a ground-based control BHF ad hoc network device, an airborne BHF ad hoc network device installed on the UAV, a control terminal, and a video terminal. For ease of description, the ground-based control BHF ad hoc network device and the airborne BHF ad hoc network device will be referred to as the ground end and the airborne end in the following text.

[0021] A ground-based control broadband ad hoc network device is used to determine the current operating frequency band through an adaptive frequency selection module and broadcast the current operating frequency band to multiple airborne broadband ad hoc network devices of unmanned aerial vehicles (UAVs) via a first antenna; it also receives video data or control data through a low-noise amplification path. Several airborne broadband ad hoc network devices are used to switch the corresponding radio frequency transmission link according to the current operating frequency band, and transmit video data or control data to the ground-based control broadband ad hoc network device via a second antenna under the radio frequency transmission link.

[0022] The ground-based control broadband ad hoc network device is connected to the first antenna for transmitting and receiving radio frequency signals. Multiple airborne broadband ad hoc network devices are installed on different UAVs and connected to their respective second antennas for transmitting and receiving radio frequency signals from the UAV end. The ground-based control broadband ad hoc network device acts as the central node, and the multiple airborne broadband ad hoc network devices on the UAVs act as peripheral nodes, forming a broadband high-speed wireless ad hoc network architecture. A stable two-way communication relationship is established through the broadband ad hoc network link. The ground-based control broadband ad hoc network device is responsible for issuing UAV control commands from the control terminal and receiving video data or status data uploaded by the video terminal or UAV. The airborne broadband ad hoc network devices are responsible for executing the UAV control link and image backhaul link, and maintaining a real-time wireless connection with the ground-based control broadband ad hoc network device.

[0023] Specifically, the terrestrial control broadband ad hoc network equipment includes an adaptive frequency selection module, a terrestrial broadband ad hoc network baseband module, a low-noise amplifier, an RF switch group, an RF power amplifier, and a first RF interface connected to a first antenna. The RF input terminal of the low-noise amplifier is connected to the first antenna via the first RF interface, and the RF output terminal of the low-noise amplifier is connected to the RF receiving terminal of the terrestrial broadband ad hoc network baseband module. The RF input terminal of the adaptive frequency selection module is connected to the first antenna via the first RF interface, and is used to receive broadband RF signals in the air and perform spectrum analysis. The signal output terminal of the adaptive frequency selection module is connected to the signal input terminal of the terrestrial broadband ad hoc network baseband module, and is used to notify the terrestrial broadband ad hoc network baseband module of the frequency selection result or spectrum parameters. The RF transmitting terminal of the terrestrial broadband ad hoc network baseband module is connected to the first RF interface sequentially via the RF switch group and the RF power amplifier, so as to transmit control commands and other downlink data into the air through the first antenna in the selected operating frequency band.

[0024] The terrestrial broadband self-organizing network baseband module connects to the control terminal and video terminal via wired or wireless interfaces, respectively. Control commands output by the control terminal are encapsulated by the terrestrial broadband self-organizing network baseband module and transmitted to the target UAV via the self-organizing network link; video data uploaded by the UAV is deframed by the terrestrial broadband self-organizing network baseband module and forwarded to the video terminal. In this embodiment, the ground terminal can also be connected to multiple sets of RF front-ends via multi-node interfaces to meet the requirements of simultaneous operation of multiple frequency bands or multiple beams.

[0025] like Figure 3As shown, the adaptive frequency selection module includes a mixer, a filter, a power detector, an analog-to-digital converter, and a microcontroller (MCU) connected in sequence. The input of the mixer is connected to the first RF interface via a low-noise amplifier (LNA) and an RF switch group. The output of the microcontroller is connected to the signal input of the terrestrial broadband self-organizing network baseband module via an RS485 interface. The adaptive frequency selection module contains a phase-locked loop (PLL) and a voltage-controlled oscillator (VCO). The control terminal of the PLL is connected to the MCU, and the output terminal of the PLL is connected to the control terminal of the VCO. The output terminal of the VCO is connected to the local oscillator input of the mixer.

[0026] The ground-based control broadband self-organizing network equipment initializes, and the adaptive frequency selection module is in standby mode. By controlling switch C1, the antenna port is switched to the RF input of the adaptive frequency selection module, which then searches for spatial signals through the connected first antenna C0. In this embodiment, the adaptive frequency selection module presets several candidate operating frequency bands, such as 900MHz, 1.2GHz, 1.5GHz, 2.4GHz, 5.2GHz, and 5.8GHz. The adaptive frequency selection module sequentially scans each candidate operating frequency band, filters out the spectrally clean intervals, and sets the current operating frequency band as the filtered spectrally clean interval.

[0027] The spatial signal received by the adaptive frequency selection module is first amplified by a low-noise amplifier (LNA) and then sent to a mixer for frequency conversion. A phase-locked loop (PLL) controls the local oscillator frequency of the voltage-controlled oscillator (VCO), ensuring that signals from different candidate operating frequency bands are converted to an intermediate frequency (IF) signal with a center frequency of 500MHz. The converted IF signal then passes through a 160MHz bandwidth filter, and an analog voltage signal is output from a power detector. This analog voltage signal is converted into a digital signal by an analog-to-digital converter (ADC) and input to a microcontroller (MCU). The MCU obtains the input power value for each candidate operating frequency band and performs frequency band determination.

[0028] The microcontroller (MCU) compares the power values ​​of each candidate operating frequency band to determine the spectral clean range and sets it as the current operating frequency band. In this embodiment, the corresponding frequency band is determined based on a threshold value. For example, when the input power of the 900MHz, 1.2GHz, and 1.5GHz bands is less than or equal to the threshold, the MCU determines the current operating frequency band as a low-frequency band. If the above conditions are not met and the input power of the 2.4GHz band is less than or equal to the threshold, the current operating frequency band is determined as a mid-frequency band. If these conditions are also not met and the input power of the 5.2GHz and 5.8GHz bands is less than or equal to the threshold, the current operating frequency band is determined as a high-frequency band. If the power of all candidate operating frequency bands is higher than the threshold, it can be determined that the current environment is unsuitable as a working environment, and a prompt will be sent to the host computer or control terminal. In this application, the threshold value is set to -60dBm.

[0029] The adaptive frequency selection module sends the determined current operating frequency band to the terrestrial broadband self-organizing network baseband module through its output interface. The terrestrial broadband self-organizing network baseband module sets the corresponding operating parameters for the ground end and each airborne end. The entire self-organizing network system performs subsequent control and data transmission under this operating frequency band.

[0030] The airborne broadband ad hoc networking equipment is installed inside the UAV's fuselage and includes a broadband ad hoc network baseband module, a low-noise amplifier, an RF switch assembly, an RF power amplifier, and an RF interface that connects to the second antenna. The RF interface connects to the second antenna via an RF coaxial cable, enabling the UAV to transmit and receive RF signals.

[0031] The RF input of the low-noise amplifier LNA1 is connected to the second antenna via an RF interface to amplify the downlink RF signal from the ground. The output of the LNA1 is connected to the RF receiver of the airborne broadband ad hoc network baseband module. The RF transmitter of the airborne broadband ad hoc network baseband module is connected to the RF interface via an RF switch group and an RF power amplifier, transmitting UAV video data and status information to the ground via the second antenna in the selected operating frequency band.

[0032] In some implementations, the airborne broadband ad hoc network device is connected to the UAV's control system via a data cable, enabling the control system to receive control data from the broadband ad hoc network link and adjust the UAV's attitude and mission accordingly; at the same time, it is connected to the UAV's power system via a power cable to provide operating power for the communication equipment.

[0033] Furthermore, the ground-based control broadband ad hoc network module and the airborne broadband ad hoc network equipment also include a satellite positioning module. This satellite positioning module is connected to a positioning antenna to acquire corresponding location information. The satellite positioning module connects to the airborne broadband ad hoc network baseband module via a serial port to provide the UAV's location information to the ground control system.

[0034] After the ground-based broadband ad hoc network equipment completes adaptive frequency selection and determines the current operating frequency band, the adaptive frequency selection module writes the current operating frequency band into the ground broadband ad hoc network baseband module. The ground broadband ad hoc network baseband module configures the operating parameters of the transmit and receive links according to the current operating frequency band, and sends the synchronization control frame carrying the current operating frequency band to each airborne broadband ad hoc network equipment through the radio frequency link.

[0035] In star-shaped node mode, the ground terminal acts as the central node, broadcasting or multicasting operating frequency band information to up to 32 airborne terminals. Upon receiving the operating frequency band information, each airborne broadband ad hoc network device selects the corresponding RF switch group channel and RF power amplifier based on the current operating frequency band. For example, when the current operating frequency band is low-frequency, the ground terminal selects the corresponding low-frequency RF power amplifier path, and the airborne terminal selects the corresponding low-frequency RF power amplifier path; when the current operating frequency band is mid-frequency or high-frequency, the ground terminal and airborne terminal select the corresponding mid-frequency or high-frequency transmission paths respectively, ensuring consistent RF links within the ad hoc network.

[0036] The control terminal sends the UAV's control commands to the ground-based broadband ad hoc network baseband module. The baseband module encapsulates the control commands into downlink data frames and transmits them into the air via a radio frequency power amplifier and the first antenna in the current operating frequency band. The corresponding airborne broadband ad hoc network equipment receives the downlink radio frequency signal via the second antenna, demodulates and deframes it after passing it through a low-noise amplifier and the airborne baseband module, and then outputs the control information to the UAV flight control system, enabling the UAV to execute corresponding control actions.

[0037] Video and status data collected by sensors such as cameras on the UAV are sent to the onboard broadband ad hoc network baseband module. After encoding and encapsulation, the data is transmitted to the ground via the onboard radio frequency transmission link and the next-day uplink in the current operating frequency band. The ground broadband ad hoc network baseband module receives the uplink data, performs frame decoding and parsing, outputs the video data to the video terminal for display, and provides the status data to the control terminal or backend system.

[0038] The process of this application will be further explained below with reference to specific embodiments: Step S1: The ground control broadband self-organizing network equipment determines the current working frequency band from the candidate working frequency bands through an adaptive frequency selection algorithm, and broadcasts the current working frequency band to at least one UAV; When remote control of UAV 1 is required, the control terminal first sends control commands to the terrestrial broadband ad hoc network baseband module C0. The terrestrial broadband ad hoc network baseband module C0 frames the control commands into data frames. The adaptive frequency selection module determines the current operating frequency band according to the aforementioned adaptive frequency selection method, selects the corresponding transmission channel, and sequentially switches the transmission link to one of the RF power amplifiers HPAC0 to HPAC2 via RF switch C3 and RF switch C2. The selected RF power amplifier then amplifies the signal.

[0039] The adaptive frequency selection module is used to perform power scanning on multiple candidate operating frequency bands in the air environment to determine the current operating frequency band. Candidate operating frequency bands include, but are not limited to, 900MHz, 1.2GHz, 1.5GHz, 2.4GHz, 5.2GHz, and 5.8GHz. The adaptive frequency selection module includes components such as a phase-locked loop (PLL), a voltage-controlled oscillator (VCO), a mixer, a filter, a power detector, and an analog-to-digital converter (ADC). The PLL can be an ADF4351, the VCO output drives the mixer, the power detector can be an ADL5513, and the ADC can be an AD9283. By configuring the PLL's division ratio through the microcontroller (MCU), the VCO can scan the signal strength of different frequency bands.

[0040] The adaptive frequency selection module transmits the scanning results to the terrestrial broadband self-organizing network baseband module C0. The terrestrial broadband self-organizing network baseband module C0 determines the optimal operating frequency band based on set threshold conditions. The RF switch can be a Raexek LXK6208 or a Guowei K8025, and the RF power amplifier uses an LDMOS or GaN structure, which can boost the signal power to 40 to 47 dBm, thus ensuring that the broadcast signal can cover the maximum communication distance of the drone swarm.

[0041] like Figure 4 As shown, the adaptive frequency selection algorithm includes the following steps: The first antenna receives radio frequency signals from multiple candidate operating frequency bands. The operating frequency bands of the terrestrial broadband self-organizing network baseband modules are respectively set as the candidate operating frequency bands, and the input power of each candidate operating frequency band is detected. Based on the threshold, determine whether each candidate working frequency band meets the communication requirements, and select the frequency band that meets the communication requirements as the current working frequency band.

[0042] Specifically, the operation frequency bands of the terrestrial broadband self-organizing network baseband modules are set as candidate operation frequency bands. The input power of each candidate operation frequency band is detected through the following process: the adaptive frequency selection module amplifies the radio frequency signals of the multiple candidate operation frequency bands through a low-noise amplifier and then sends them to the mixer; the phase-locked loop controls the voltage-controlled oscillator to output the local oscillator signal to the mixer to convert the signals of each candidate operation frequency band to intermediate frequency signals; the intermediate frequency signals are filtered and power detected, and then converted into digital signals by an analog-to-digital converter; the microcontroller determines the input power based on the digital signals.

[0043] Furthermore, in the adaptive frequency selection algorithm of this embodiment, the current operating frequency band is selected sequentially in the order of low frequency band, mid frequency band, and high frequency band. Different frequency bands have different propagation characteristics and link stability. Low frequency band signals have lower path loss and stronger diffraction capability, and are more likely to achieve a longer communication distance at the same transmit power. In long-distance missions or obstructed environments, prioritizing the selection of low frequency bands can improve link connectivity and coverage reliability.

[0044] When low-frequency bands are occupied or interfered with and cannot meet communication requirements, mid-frequency bands can usually achieve a better balance between link stability and data bandwidth; while high-frequency bands can provide higher data rates and are suitable for large-volume services such as video backhaul. Therefore, adopting a hierarchical selection method from low to high frequencies can quickly select the most suitable operating frequency band in complex electromagnetic environments, taking into account communication distance, anti-interference, and data transmission capabilities.

[0045] HPAC0 to HPAC2 are radio frequency power amplifiers, whose output power is generally boosted to the range of 40dBm to 47dBm to ensure sufficient link coverage. The terrestrial broadband self-organizing network baseband module C0 can be implemented using FPGA or ASIC devices. In a preferred embodiment, the radio frequency switch C3 can be a Raexek LXK6208, the radio frequency switch C2 can be a Guowei K8025, and the radio frequency power amplifier can be implemented using LDMOS or GaN devices.

[0046] The amplified radio frequency signal is switched to the transmit port connected to the first antenna C0 via radio frequency switch C1, and then transmitted into the air through the first antenna C0 to be received by the second antenna on the UAV, namely antenna 1. Both the first and second antennas are omnidirectional fiberglass antennas, which can achieve a wireless transmission distance of up to approximately 200 km. In a preferred embodiment, the positioning antenna C1 can also be a Guowei K8025.

[0047] Step S2: The UAV receives the current operating frequency band of the broadcast and transmits it to the airborne broadband self-organizing network device; the airborne broadband self-organizing network device switches the corresponding radio frequency transmission link according to the current operating frequency band.

[0048] The airborne antenna receives the operating frequency band information broadcast by ground equipment and switches it to the input of the low-noise amplifier via an RF switch. The low-noise amplifier has a broadband structure that can cover 900MHz to 6000MHz and performs gain compensation on the broadcast signal to make the signal meet the input requirements of the baseband module.

[0049] After demodulation and parsing, the airborne broadband self-organizing network baseband module obtains the identifier of the current operating frequency band and selects the corresponding RF transmission path. When the current operating frequency band is low-frequency, the airborne end switches to the low-frequency power amplification link; when it is mid-frequency, it switches to the mid-frequency link; and when it is high-frequency, it switches to the high-frequency link. Link switching is completed through a two-stage RF switch on the airborne side. The downstream connected RF power amplifier uses LDMOS or GaN RF power modules to support the RF signal gain requirements of different frequency bands. The airborne end can automatically switch its RF transmission link under the unified frequency band configuration of the ground end, maintaining a consistent frequency band operating status with the ground end.

[0050] Step S3: The airborne broadband self-organizing network baseband module of the airborne broadband self-organizing network equipment transmits video data or control data to the ground control broadband self-organizing network equipment via the selected radio frequency transmission link through the second antenna.

[0051] During this process, the airborne broadband ad hoc network module encodes, frames, and encapsulates the video data or status data collected by the UAV into uplink data frames; the uplink data frames are then sent to the selected radio frequency transmission link for power amplification and transmitted via the second antenna.

[0052] The drone's onboard camera captures video footage in real time and inputs the video data to the onboard broadband ad hoc network baseband module. The onboard broadband ad hoc network baseband module encodes and frames the video data to form uplink RF data frames, which are then sent to the RF transmission link determined in step S2. The RF transmission link includes an RF switching stage and a power amplification stage, with the aforementioned LDMOS or GaN power amplifier responsible for amplifying the signal to a specified power range.

[0053] The amplified uplink data is transmitted to the ground via the second antenna. The second antenna is an omnidirectional fiberglass antenna, which can meet the coverage requirements of long-distance communication, enabling the drone to stably transmit video or status information to the ground.

[0054] Step S4: The ground control broadband self-organizing network equipment receives the video data or control data through a low-noise amplifier path, and realizes data communication between the control terminal, video terminal and UAV under the current operating frequency band.

[0055] After the first antenna receives the uplink signal from the UAV, the RF switch inside the ground broadband self-organizing network equipment switches the signal to the input of the low-noise amplifier corresponding to the current operating frequency band. The low-noise amplifier adopts a broadband structure, covering a range of 900MHz to 6000MHz, ensuring compatibility with the airborne RF transmission frequency band.

[0056] After low-noise amplification, the signal enters the terrestrial broadband ad hoc network baseband module, where it demodulates and deframes to extract video or control data. Video data is sent to a video terminal for display or storage, while control data is sent to a control terminal for calculating subsequent UAV control commands or mission operations. The ground terminal can stably receive and parse UAV data within the selected operating frequency band, enabling data communication between the control terminal, video terminal, and UAV.

[0057] This invention employs an adaptive frequency selection algorithm to automatically determine the current operating frequency band from multiple candidate bands and simultaneously broadcasts this information to the UAV. This ensures that the radio frequency links between the ground and airborne ends operate within a unified frequency band, thus avoiding the problem of link interruption when fixed-frequency communication is subject to interference or obstruction. This invention improves the reliability and anti-interference capability of UAV control and video backhaul links in complex electromagnetic environments, ensuring communication continuity and stability for multiple UAVs in long-distance missions.

[0058] Based on the same inventive concept, the present invention also provides a computer device, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and executed the steps of the above-described broadband high-speed self-organizing network drone control method.

[0059] The processing methods for computer devices can be referred to the description of the methods above, and will not be repeated here.

[0060] This application also provides a non-transitory machine-readable storage medium storing an executable program, which, when run by a microprocessor, causes the processor to execute the method provided in the above embodiments.

[0061] This invention discloses a computer-readable storage medium storing a computer program for electronic data interchange, wherein the computer program causes a computer to perform the described methods.

[0062] This invention discloses a computer program product comprising a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform the described method.

[0063] The embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0064] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0065] Finally, it should be noted that the embodiments disclosed in this invention are merely preferred embodiments of this invention and are only used to illustrate the technical solutions of this invention, not to limit it. Although this invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this invention.

Claims

1. A method for controlling unmanned aerial vehicles (UAVs) using a broadband high-speed self-organizing network, characterized in that: The method includes: The ground-controlled broadband self-organizing network equipment determines the current operating frequency band from candidate operating frequency bands through an adaptive frequency selection algorithm and broadcasts the current operating frequency band to at least one UAV; The UAV receives the current operating frequency band and transmits it to the airborne broadband self-organizing network device; the airborne broadband self-organizing network device switches the corresponding radio frequency transmission link according to the current operating frequency band. The airborne broadband self-organizing network baseband module of the airborne broadband self-organizing network equipment transmits video data or control data to the ground control broadband self-organizing network equipment via a second antenna through a selected radio frequency transmission link. The ground control broadband self-organizing network equipment receives the video data or control data through a low-noise amplifier path, enabling data communication between the control terminal, video terminal and UAV under the current operating frequency band.

2. The method for controlling a UAV in a broadband high-speed self-organizing network according to claim 1, characterized in that, The adaptive frequency selection algorithm includes the following steps: The first antenna receives radio frequency signals from multiple candidate operating frequency bands. The operating frequency bands of the terrestrial broadband self-organizing network baseband modules are respectively set as the candidate operating frequency bands, and the input power of each candidate operating frequency band is detected; Based on the threshold, determine whether each candidate working frequency band meets the communication requirements, and select the frequency band that meets the communication requirements as the current working frequency band.

3. The method for controlling a UAV in a broadband high-speed self-organizing network according to claim 2, characterized in that, The threshold is -60dBm.

4. The method for controlling a UAV in a broadband high-speed self-organizing network according to claim 3, characterized in that, The airborne broadband ad hoc network baseband module of the airborne broadband ad hoc network equipment transmits video data or control data to the ground control broadband ad hoc network equipment via a second antenna through a selected radio frequency transmission link, including: The airborne broadband self-organizing network module encodes, frames, and encapsulates the video or status data collected by the UAV into uplink data frames. The uplink data frame is sent to the selected radio frequency transmission link for power amplification and then transmitted via the second antenna.

5. The method for controlling a UAV in a broadband high-speed self-organizing network according to claim 2, characterized in that, The operating frequency bands of the terrestrial broadband self-organizing network baseband modules are set separately, and the input power of each candidate operating frequency band is detected, including: The radio frequency signals of the multiple candidate operating frequency bands are amplified by a low-noise amplifier and then sent to the mixer. The phase-locked loop controls the voltage-controlled oscillator to output the local oscillator signal to the mixer, so as to convert the candidate operating frequency band signals to intermediate frequency signals; The intermediate frequency signal is filtered and power detected, and then converted into a digital signal by an analog-to-digital converter; the microcontroller determines the input power based on the digital signal.

6. The method for controlling a UAV in a broadband high-speed self-organizing network according to claim 5, characterized in that, Candidate operating frequency bands include 900MHz, 1.2GHz, 1.5GHz, 2.4GHz, 5.2GHz and / or 5.8GHz.

7. The method for controlling a UAV in a broadband high-speed self-organizing network according to claim 1, characterized in that, The ground-controlled broadband self-organizing network equipment broadcasts the current operating frequency band through a satellite positioning module and positioning antenna.

8. The method for controlling a UAV in a broadband high-speed self-organizing network according to claim 7, characterized in that, The number of airborne broadband self-organizing network devices shall not exceed 32.

9. A broadband high-speed self-organizing network unmanned aerial vehicle (UAV) control device, characterized in that, include: Ground-controlled broadband ad hoc network equipment is used to determine the current operating frequency band through an adaptive frequency selection module and broadcast the current operating frequency band to airborne broadband ad hoc network equipment of multiple UAVs through a first antenna; Video data or control data is received via a low-noise amplification path; Several airborne broadband ad hoc network devices are used to switch the corresponding radio frequency transmission link according to the current operating frequency band, and transmit video data or control data to the ground control broadband ad hoc network device via the second antenna under the radio frequency transmission link.

10. The broadband high-speed self-organizing network UAV control device according to claim 9, characterized in that, The adaptive frequency selection module includes a mixer, a filter, a power detector, an analog-to-digital converter, and a microcontroller connected in sequence; the input of the mixer is connected to the first radio frequency interface through a low-noise amplifier and a group of radio frequency switches; the output of the microcontroller is connected to the signal input of the terrestrial broadband self-organizing network baseband module. The adaptive frequency selection module is also equipped with a phase-locked loop (PLL) and a voltage-controlled oscillator (VCO). The control terminal of the PLL is connected to the microcontroller, the output terminal of the PLL is connected to the control terminal of the VCO, and the output terminal of the VCO is connected to the local oscillator input terminal of the mixer.

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